Skiing exoskeleton control method and system

ABSTRACT

A method of operating an exoskeleton system that includes obtaining a first set of sensor data from one or more sensors associated with one or more leg actuator units of an exoskeleton system during a user activity, the first set of sensor data indicating a first configuration state of the one or more actuator units; determining, based at least in part on the first set of obtained sensor data, to change configuration of the one or more leg actuator units to a second configuration state to support a user during the user activity; and introducing fluid to one or more fluidic actuators of the one or more leg actuator units to generate the second configuration state by causing the one or more fluidic actuators to apply force at the one or more actuator units.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a non-provisional of and claims the benefit of U.S. Provisional Application No. 62/948,069, filed Dec. 13, 2019, entitled “POWERED DEVICE TO BENEFIT A WEARER DURING SKIING,” with attorney docket number 0110496-007PR0. This application is hereby incorporated herein by reference in its entirety and for all purposes.

This application is also a non-provisional of and claims the benefit of U.S. Provisional Application 63/030,586, filed May 27, 2020, entitled “POWERED DEVICE FOR IMPROVED USER MOBILITY AND MEDICAL TREATMENT” with attorney docket number 0110496-010PR0. This application is hereby incorporated herein by reference in its entirety and for all purposes.

This application is also a non-provisional of and claims the benefit of U.S. Provisional Application 63/058,825, filed Jul. 30, 2020, entitled “POWERED DEVICE TO BENEFIT A WEARER DURING TACTICAL APPLICATIONS” with attorney docket number 0110496-011PR0. This application is hereby incorporated herein by reference in its entirety and for all purposes.

This application is also related to U.S. patent application Ser. No. 15/082,824, filed Mar. 28, 2016 entitled “LOWER-LEG EXOSKELETON SYSTEM AND METHOD” with attorney docket number 0110496-001US0. This application is hereby incorporated herein by reference in its entirety and for all purposes.

This application is also related to U.S. patent application Ser. No. 15/823,523, filed Nov. 27, 2017 entitled “PNEUMATIC EXOMUSCLE SYSTEM AND METHOD” with attorney docket number 0110496-002US1. This application is hereby incorporated herein by reference in its entirety and for all purposes.

This application is also related to U.S. patent application Ser. No. 15/887,866, filed Feb. 02, 2018 entitled “SYSTEM AND METHOD FOR USER INTENT RECOGNITION,” having attorney docket number 0110496-003US0. This application is hereby incorporated herein by reference in its entirety and for all purposes.

This application is also related to U.S. patent application Ser. No. 15/953,296, filed Apr. 13, 2018 entitled “LEG EXOSKELETON SYSTEM AND METHOD” with attorney docket number 0110496-004US0. This application is hereby incorporated herein by reference in its entirety and for all purposes.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1 and 2 are example illustrations of an embodiment of an exoskeleton system being worn by a user while skiing.

FIG. 3 is a front view of an embodiment of a leg actuation unit coupled to one leg of a user.

FIG. 4 is a side view of the leg actuation unit of FIG. 3 coupled to the leg of the user.

FIG. 5 is a perspective view of the leg actuation unit of FIGS. 3 and 4.

FIG. 6 is a block diagram illustrating an example embodiment of an exoskeleton system.

FIG. 7 illustrates a user interface disposed on a strap of a backpack in accordance with one embodiment.

FIG. 8a illustrates a side view of a pneumatic actuator in a compressed configuration in accordance with one embodiment.

FIG. 8b illustrates a side view of the pneumatic actuator of FIG. 8a in an expanded configuration.

FIG. 9a illustrates a cross-sectional side view of a pneumatic actuator in a compressed configuration in accordance with another embodiment.

FIG. 9b illustrates a cross-sectional side view of the pneumatic actuator of FIG. 9a in an expanded configuration.

FIG. 10a illustrates a top view of a pneumatic actuator in a compressed configuration in accordance with another embodiment.

FIG. 10b illustrates a top of the pneumatic actuator of FIG. 10a in an expanded configuration.

FIG. 11 illustrates a top view of a pneumatic actuator constraint rib in accordance with an embodiment.

FIG. 12a illustrates a cross-sectional view of a pneumatic actuator bellows in accordance with another embodiment.

FIG. 12b illustrates a side view of the pneumatic actuator of FIG. 12a in an expanded configuration showing the cross section of FIG. 12 a.

FIG. 13 illustrates an example planar material that is substantially inextensible along one or more plane axes of the planar material while being flexible in other directions.

It should be noted that the figures are not drawn to scale and that elements of similar structures or functions are generally represented by like reference numerals for illustrative purposes throughout the figures. It also should be noted that the figures are only intended to facilitate the description of the preferred embodiments. The figures do not illustrate every aspect of the described embodiments and do not limit the scope of the present disclosure.

DETAILED DESCRIPTION

The following disclosure includes example embodiments of the design of novel exoskeleton devices for use during skiing activities. Exoskeletons have been conceived and evaluated for a variety of applications, however, the use of exoskeleton devices for recreational activities such as skiing is yet unexplored. This disclosure describes various embodiments of an exoskeleton used for skiing activities and methods of operating an exoskeleton in conjunction with the operator.

In one aspect, this disclosure teaches the method for developing various embodiments of an exoskeleton for use during recreational skiing. Various preferred embodiments include: a leg brace with integrated actuation, a mobile power source, and a control unit that determines the output behavior of the device in real-time.

A component of an exoskeleton system that is present in various embodiments is a body-worn, lower-extremity brace that incorporates the ability to introduce torque to the user. One preferred embodiment of this component is a leg brace that is configured to support the knee of the user and includes actuation across the knee joint to provide assistance torques in the extension direction. This embodiment can connect to the user through a series of attachments including one on the boot, below the knee, and along the user's thigh. This preferred embodiment can include this type of leg brace on both legs of the user.

The present disclosure teaches example embodiments of a fluidic exoskeleton system that includes one or more adjustable fluidic actuator. Some preferred embodiments include a fluidic actuator that can be operated at various pressure levels with a large stroke length in a configuration that can be oriented with a joint on a human body.

As discussed herein, an exoskeleton system 100 can be configured for various suitable uses. For example, FIGS. 1 and 2 illustrate an exoskeleton system 100 being used by a user 101 during skiing. As shown in FIGS. 1 and 2 the user 101 can wear the exoskeleton system 100 and a skiing assembly 190 that includes a pair of ski boots 191 and pair of skis 192. FIGS. 3 and 4 illustrate a front and side view of an actuator unit 110 coupled to a leg 102 of a user 101 and FIG. 5 illustrates a side view of an actuator unit 110 not being worn by a user 101.

As shown in the example of FIGS. 1 and 2, the exoskeleton system 100 can comprise a left and right leg actuator unit 110L, 110R that are respectively coupled to a left and right leg 102L, 102R of the user. In various embodiments, the left and right leg actuator units 110L, 110R can be substantially mirror images of each other.

As shown in FIGS. 1-5, leg actuator units 110 can include an upper arm 115 and a lower arm 120 that are rotatably coupled via a joint 125. A bellows actuator 130 extends between the upper arm 115 and lower arm 120. One or more sets of pneumatic lines 145 can be coupled to the bellows actuator 130 to introduce and/or remove fluid from the bellows actuator 130 to cause the bellows actuator 130 to expand and contract and to stiffen and soften, as discussed herein. A backpack 155 can be worn by the user 101 and can hold various components of the exoskeleton system 100 such as a fluid source, control system, a power source, and the like.

As shown in FIGS. 1-4, the leg actuator units 110L, 110R can be respectively coupled about the legs 102L, 102R of the user 101 with the joints 125 positioned at the knees 103L, 103R of the user 101 with the upper arms 115 of the leg actuator units 110L, 110R being coupled about the upper legs portions 104L, 104R of the user 101 via one or more couplers 150 (e.g., straps that surround the legs 102). The lower arms 120 of the leg actuator units 110L, 110R can be coupled about the lower leg portions 105L, 105R of the user 101 via one or more couplers 150.

The upper and lower arms 115, 120 of a leg actuator unit 110 can be coupled about the leg 102 of a user 101 in various suitable ways. For example, FIGS. 1-4 illustrates an example where the upper and lower arms 115, 120 and joint 125 of the leg actuator unit 110 are coupled along lateral faces (sides) of the top and bottom portions 104, 105 of the leg 102. As shown in the example of FIGS. 1-4, the upper arm 115 can be coupled to the upper leg portion 104 of a leg 102 above the knee 103 via two couplers 150 and the lower arm 120 can be coupled to the lower leg portion 105 of a leg 102 below the knee 103 via two couplers 150.

Specifically, upper arm 115 can be coupled to the upper leg portion 104 of the leg 102 above the knee 103 via a first set of couplers 250A that includes a first and second coupler 150A, 150B. The first and second couplers 150A, 150B can be joined by a rigid plate assembly 215 disposed on a lateral side of the upper leg portion 104 of the leg 102, with straps 151 of the first and second couplers 150A, 150B extending around the upper leg portion 104 of the leg 102. The upper arm 115 can be coupled to the plate assembly 215 on a lateral side of the upper leg portion 104 of the leg 102, which can transfer force generated by the upper arm 115 to the upper leg portion 104 of the leg 102.

The lower arm 120 can be coupled to the lower leg portion 105 of a leg 102 below the knee 103 via second set of couplers 250B that includes a third and fourth coupler 150C, 150D. A coupling branch unit 220 can extend from a distal end of, or be defined by a distal end of the lower arm 120. The coupling branch unit 220 can comprise a first branch 221 that extends from a lateral position on the lower leg portion 105 of the leg 102, curving upward and toward the anterior (front) of the lower leg portion 105 to a first attachment 222 on the anterior of the lower leg portion 105 below the knee 103, with the first attachment 222 joining the third coupler 150C and the first branch 221 of the coupling branch unit 220. The coupling branch unit 220 can comprise a second branch 223 that extends from a lateral position on the lower leg portion 105 of the leg 102, curving downward and toward the posterior (back) of the lower leg portion 105 to a second attachment 224 on the posterior of the lower leg portion 105 below the knee 103, with the second attachment 224 joining the fourth coupler 150D and the second branch 223 of the coupling branch unit 220.

As shown in the example of FIGS. 1-4, the fourth coupler 150D can be configured to surround and engage the ski boot 191 of a user. For example, the strap 151 of the fourth coupler 150D can be of a size that allows the fourth coupler 150D to surround the larger diameter of a ski boot 191 compared to the lower portion 105 of the leg 102 alone. Also, the length of the lower arm 120 and/or coupling branch unit 220 can be of a length sufficient for the fourth coupler to 150D to be positioned over a ski boot 191 instead of being of a shorter length such that the fourth coupler 150D would surround a section of the lower portion 105 of the leg 102 above the ski boot 191 when the leg actuator unit 110 is worn by a user.

Attaching to the ski boot 191 can vary across various embodiments. In one embodiment, this attachment can be accomplished through a flexible strap that wraps around the circumference of ski boot 191 to affix the leg actuator unit 110 to the ski boot 191 with the desired amount of relative motion between the leg actuator unit 110 and the strap. Other embodiments can work to restrict various degrees of freedom while allowing the desired amount of relative motion between the leg actuator unit 110 and the boot 191 in other degrees of freedom. One such embodiment can include the use of a mechanical clip that connects to the back of the ski boot 191 that can provide a specific mechanical connection between the device and the ski boot 191. Various embodiments can include but are not limited to the designs listed previously, a mechanical bolted connection, a rigid strap, a magnetic connection, an electro-magnetic connection, an electromechanical connection, an insert into the user's boot, a rigid or flexible cable, or a connection directly to a ski 192.

Another aspect of the exoskeleton system 100 can be fit components used to secure the exoskeleton system 100 to the user 101. Since the function of the exoskeleton system 100 in various embodiments can rely heavily on the fit of the exoskeleton system 100 efficiently transmitting forces between the user 101 and the exoskeleton system 100 without the exoskeleton system 100 significantly drifting on the body 101 or creating discomfort, improving the fit of the exoskeleton system 100 and monitoring the fit of the exoskeleton system 100 to the user over time can be desirable for the overall function of the exoskeleton system 100 in some embodiments.

In various examples, different couplers 150 can be configured for different purposes, with some couplers 150 being primarily for the transmission of forces, with others being configured for secure attachment of the exoskeleton system 100 to the body 101. In one preferred embodiment for a single knee system, a coupler 150 that sits on the lower leg 105 of the user 101 (e.g., one or both of couplers 150C, 150D) can be intended to target body fit, and as a result, can remain flexible and compliant to conform to the body of the user 101. Alternatively, in this embodiment a coupler 150 that affixes to the front of the user's thigh on an upper portion 104 of the leg 102 (e.g., one or both of couplers 150A, 150B) can be intended to target power transmission needs and can have a stiffer attachment to the body than others couplers 150 (e.g., one or both of couplers 150C, 150D). Various embodiments can employ a variety of strapping or coupling configurations, and these embodiments can extend to include any variety of suitable straps, couplings, or the like, where two parallel sets of coupling configurations are meant to fill these different needs.

In some cases the design of the joint 125 can improve the fit of the exoskeleton system 100 on the user. In one embodiment, the joint 125 of a single knee leg actuator unit 110 can be designed to use a single pivot joint that has some deviations with the physiology of the knee joint. Another embodiment, uses a polycentric knee joint to better fit the motion of the human knee joint, which in some examples can be desirably paired with a very well fit leg actuator unit 110. Various embodiments of a joint 125 can include but are not limited to the example elements listed above, a ball and socket joint, a four bar linkage, and the like.

Some embodiments can include fit adjustments for anatomical variations in varus or valgus angles in the lower leg 105. One preferred embodiment includes an adjustment incorporated into a leg actuator unit 110 in the form of a cross strap that spans the joint of the knee 103 of the user 101, which can be tightened to provide a moment across the knee joint in the frontal plane which varies the nominal resting angle. Various embodiments can include but are not limited to the following: a strap that spans the joint 125 to vary the operating angle of the joint 125; a mechanical assembly including a screw that can be adjusted to vary the angle of the joint 125; mechanical inserts that can be added to the leg actuator unit 110 to discreetly change default angle of the joint 125 for the user 101, and the like.

In various embodiments, the leg actuator unit 110 can be configured to remain suspended vertically on the leg 102 and remain appropriately positioned with the joint of the knee 103. In one embodiment, coupler 150 associated with a ski boot 191 (e.g., coupler 150D) can provide a vertical retention force for a leg actuator unit 110. Another embodiment uses a coupler 150 positioned on the lower leg 105 of the user 101 (e.g., one or both of couplers 150C, 150D) that exerts a vertical force on the leg actuator unit 110 by reacting on the calf of the user 101. Various embodiments can include but are not limited to the following: suspension forces transmitted through a coupler 150 on the ski boot (e.g., coupler 150D) or another embodiment of ski boot attachment discussed previously; suspension forces transmitted through an electronic and/or fluidic cable assembly; suspension forces transmitted through a connection to a waist belt; suspension forces transmitted through a mechanical connection to a backpack 155 or other housing for the exoskeleton device 610 and/or pneumatic system 620 (see FIG. 6); suspension forces transmitted through straps or a harness to the shoulders of the user 101, and the like.

In some embodiments, it can be desirable to verify that the fit of the leg actuator unit 110 on the leg 102 of the user 101 is within suitable operating parameters to enable ideal operation and performance of the exoskeleton system 100. One embodiment can include the use of an external fit jig that can be held up to the leg 102 of the user 101 with the leg actuator unit 110 donned to determine where the fit of the leg actuator unit 110 is outside of allowable tolerances. In some examples, such a mechanical jig can be used upon initial donning of one or more leg actuator units 110 or periodically throughout use of the one or more leg actuator unit 110 to determine whether the fit of the leg actuator unit 110 is outside of allowable tolerances. Various embodiments include but are not limited to the following: external mechanical jig; the exoskeleton device 610 tracking performance of the exoskeleton system 100 to identify proper or improper fit; visual inspection tools that analyze one or more images of the exoskeleton system 100 on the user 101 (e.g. an application on a smartphone); a laser-guided fit system, and the like.

In various embodiments, a leg actuator unit 110 can be spaced apart from the leg 102 of the user with a limited number of attachments to the leg 102. For example, in some embodiments, the leg actuator unit 110 can consist or consist essentially of three attachments to the leg 102 of the user 101, namely via the first and second attachments 222, 224 and the 215. In various embodiments, the couplings of the leg actuator unit 110 to the lower leg portion 105 can consist or consist essentially of a first and second attachment on the anterior and posterior of the lower leg portion 105. In various embodiments, the coupling of the leg actuator unit 110 to the upper leg portion 104 can consist or consist essentially of a single lateral coupling, which can be associated with one or more couplers 150 (e.g., two couplers 150A, 150B as shown in FIGS. 1-5). In various embodiments, such a configuration can be desirable based on the specific force-transfer for use during skiing. Accordingly, the number and positions of attachments or coupling to the leg 102 of the user 101 in various embodiments is not a simple design choice and is specifically selected for the application of skiing.

While specific embodiments of couplers 150 are illustrated herein, in further embodiments, such components discussed herein can be operably replaced by an alternative structure to produce the same functionality. For example, while straps, buckles, padding and the like are shown in various examples, further embodiments can include couplers 150 of various suitable types and with various suitable elements. For example, some embodiments can include Velcro hook-and-loop straps, or the like.

Additionally, in various embodiments, it can be desirable for the exoskeleton system 100 to be configured for coupling over the clothing of a user 101 and without modification or addition of hardware to a skiing assembly 190 such as to ski boots 191. For example, as shown in the embodiments of FIGS. 1-5, the fourth coupler can be configured to couple to the ski boot 191 of a user 101 without modification of the ski boot 191 or addition of hardware to the ski boot 191. In other words, a user can don clothing and ski gear as they would normally and then don the exoskeleton system 100 over their normal clothing and ski gear. Such a configuration can be desirable so that users 101 can quickly and easily switch out or use different ski gear without need to modify or change hardware on the ski gear to use the exoskeleton system 100. Additionally, such a configuration can allow multiple users 101 to easily use the same exoskeleton system 100 interchangeably.

FIGS. 1-4 illustrate another example of an exoskeleton system 100 where the joint 125 is disposed laterally and adjacent to the knee 103 with a rotational axis of the joint 125 being disposed parallel to a rotational axis of the knee 103. In some embodiments, the rotational axis of the joint 125 can be coincident with the rotational axis of the knee 103. In some embodiments, a joint can be disposed on the anterior of the knee 103, posterior of the knee 103, inside of the knee 103, or the like.

In various embodiments, the joint structure 125 can constrain the bellows actuator 130 such that force created by actuator fluid pressure within the bellows actuator 130 can be directed about an instantaneous center (which may or may not be fixed in space). In some cases of a revolute or rotary joint, or a body sliding on a curved surface, this instantaneous center can coincide with the instantaneous center of rotation of the joint 125 or a curved surface. Forces created by a leg actuator unit 110 about a rotary joint 125 can be used to apply a moment about an instantaneous center as well as still be used to apply a directed force. In some cases of a prismatic or linear joint (e.g., a slide on a rail, or the like), the instantaneous center can be kinematically considered to be located at infinity, in which case the force directed about this infinite instantaneous center can be considered as a force directed along the axis of motion of the prismatic joint. In various embodiments, it can be sufficient for a rotary joint 125 to be constructed from a mechanical pivot mechanism. In such an embodiment, the joint 125 can have a fixed center of rotation that can be easy to define, and the bellows actuator 130 can move relative to the joint 125. In a further embodiment, it can be beneficial for the joint 125 to comprise a complex linkage that does not have a single fixed center of rotation. In yet another embodiment, the joint 125 can comprise a flexure design that does not have a fixed joint pivot. In still further embodiments, the joint 125 can comprise a structure, such as a human joint, robotic joint, or the like.

In various embodiments, leg actuator unit 110 (e.g., comprising bellows actuator 130, joint structure 125, and the like) can be integrated into a system to use the generated directed force of the leg actuator unit 110 to accomplish various tasks. In some examples, a leg actuator unit 110 can have one or more unique benefits when the leg actuator unit 110 is configured to assist the human body or is included into a powered exoskeleton system 100. In an example embodiment, the leg actuator unit 110 can be configured to assist the motion of a human user about the user's knee joint 103. To do so, in some examples, the instantaneous center of the leg actuator unit 110 can be designed to coincide or nearly coincide with the instantaneous center of rotation of the knee 103 of a user 101. In one example configuration, the leg actuator unit 110 can be positioned lateral to the knee joint 103 as shown in FIGS. 1-4. In various examples, the human knee joint 103 can function as (e.g., in addition to or in place of) the joint 125 of the leg actuator unit 110.

For clarity, example embodiments discussed herein should not be viewed as a limitation of the potential applications of the leg actuator unit 110 described within this disclosure. The leg actuator unit 110 can be used on other joints of the body including but not limited to one or more elbow, one or more hip, one or more finger, one or more ankle, spine, or neck. In some embodiments, the leg actuator unit 110 can be used in applications that are not on the human body such as in robotics, for general purpose actuation, animal exoskeletons, or the like.

Also, while example embodiments herein can relate to skiing, further embodiments can be used for or adapted for various other suitable applications such as tactical, medical, or labor applications, and the like. Examples of such applications can be found in U.S. patent application Ser. No. 15/823,523, filed Nov. 27, 2017 entitled “PNEUMATIC EXOMUSCLE SYSTEM AND METHOD” with attorney docket number 0110496-002US1 and U.S. patent application Ser. No. 15/953,296, filed Apr. 13, 2018 entitled “LEG EXOSKELETON SYSTEM AND METHOD” with attorney docket number 0110496-004US0, which are incorporated herein by reference.

Some embodiments can apply a configuration of a leg actuator unit 110 as described herein for linear actuation applications. In an example embodiment, the bellows 130 can comprise a two-layer impermeable/inextensible construction, and one end of one or more constraining ribs can be fixed to the bellows 130 at predetermined positions. The joint structure 125 in various embodiments can be configured as a series of slides on a pair of linear guide rails, where the remaining end of one or more constraining rib is connected to a slide. The motion and force of the fluidic actuator can therefore be constrained and directed along the linear rail.

FIG. 6 is a block diagram of an example embodiment of an exoskeleton system 100 that includes an exoskeleton device 610 that is operably connected to a pneumatic system 620. While a pneumatic system 620 is used in the example of FIG. 6, further embodiments can include any suitable fluidic system or a pneumatic system 620 can be absent in some embodiments, such as where an exoskeleton system 100 is actuated by electric motors, or the like.

The exoskeleton device 610 in this example comprises a processor 611, a memory 612, one or more sensors 613 a communication unit 614, a user interface 615 and a power source 616. A plurality of actuators 130 are operably coupled to the pneumatic system 620 via respective pneumatic lines 145. The plurality of actuators 130 include a pair knee-actuators 130L, 130R that are positioned on the right and left side of a body 100. For example, as discussed above, the example exoskeleton system 100 shown in FIG. 6 can comprise a left and right leg actuator unit 110L, 110R on respective sides of the body 101 as shown in FIGS. 1 and 2 with one or both of the exoskeleton device 610 and pneumatic system 620, or one or more components thereof, stored within or about a backpack 155 (see FIGS. 1 and 2) or otherwise mounted, worn or held by a user 101.

Accordingly, in various embodiments, the exoskeleton system 100 can be a completely mobile and self-contained system that is configured to be powered and operate for an extended period of time without an external power source, such as during a skiing session, mountaineering, and the like. The size, weight and configuration of the actuator unit(s) 110, exoskeleton device 610 and pneumatic system 620 can therefore be configured in various embodiments for such mobile and self-contained operation.

In various embodiments, the example system 100 can be configured to move and/or enhance movement of the user 101 wearing the exoskeleton system 100. For example, the exoskeleton device 610 can provide instructions to the pneumatic system 620, which can selectively inflate and/or deflate the bellows actuators 130 via pneumatic lines 145. Such selective inflation and/or deflation of the bellows actuators 130 can move and/or support one or both legs 102 to generate and/or augment body motions such as walking, running, jumping, climbing, lifting, throwing, squatting, skiing or the like.

In some cases, the system 100 can be designed to support multiple configurations in a modular configuration. For example, one embodiment is a modular configuration that is designed to operate in either a single knee configuration or in a double knee configuration as a function of how many of the actuator units 110 are donned by the user 101. For example, the exoskeleton device 610 can determine how many actuator units 110 are coupled to the pneumatic system 620 and/or exoskeleton device 610 (e.g., on or two actuator units 110) and the exoskeleton device 610 can change operating capabilities based on the number of actuator units 110 detected.

In further embodiments, the pneumatic system 620 can be manually controlled, configured to apply a constant pressure, or operated in any other suitable manner. In some embodiments, such movements can be controlled and/or programmed by the user 101 that is wearing the exoskeleton system 100 or by another person. In some embodiments, the exoskeleton system 100 can be controlled by movement of the user 101. For example, the exoskeleton device 610 can sense that the user is walking and carrying a load and can provide a powered assist to the user via the actuators 130 to reduce the exertion associated with the load and walking. Similarly, where a user 101 wears the exoskeleton system 100 while skiing, the exoskeleton system 100 can sense movements of the user 101 (e.g., made by the user 101, in response to terrain, or the like) and can provide a powered assist to the user via the actuators 130 to enhance or provide an assist to the user while skiing.

Accordingly, in various embodiments, the exoskeleton system 130 can react automatically without direct user interaction. In further embodiments, movements can be controlled in real-time by user interface 615 such as a controller, joystick, voice control or thought control. Additionally, some movements can be pre-preprogrammed and selectively triggered (e.g., walk forward, sit, crouch) instead of being completely controlled. In some embodiments, movements can be controlled by generalized instructions (e.g. walk from point A to point B, pick up box from shelf A and move to shelf B).

The user interface 615 can allow the user 101 to control various aspects of the exoskeleton system 100 including powering the exoskeleton system 100 on and off; controlling movements of the exoskeleton system 100; configuring settings of the exoskeleton system 100, and the like. The user interface 615 can include various suitable input elements such as a touch screen, one or more buttons, audio input, and the like. The user interface 615 can be located in various suitable locations about the exoskeleton system 100. For example, in one embodiments, the user interface 615 can be disposed on a strap of a backpack 155 as shown in FIG. 7. In some embodiments, the user interface can be defined by a user device such as smartphone, smart-watch, wearable device, or the like.

In various embodiments, the power source 616 can be a mobile power source that provides the operational power for the exoskeleton system 100. In one preferred embodiment, the power pack unit contains some or all of the pneumatic system 620 (e.g., a compressor) and/or power source (e.g., batteries) required for the continued operation of pneumatic actuation of the leg actuator units 110. The contents of such a power pack unit can be correlated to the specific actuation approach configured to be used in the specific embodiment. In some embodiments, the power pack unit will only contain batteries which can be the case in an electromechanically actuated system or a system where the pneumatic system 620 and power source 616 are separate. Various embodiments of a power pack unit can include but are not limited to a combination of the one or more of the following items: pneumatic compressor, batteries, stored high-pressure pneumatic chamber, hydraulic pump, pneumatic safety components, electric motor, electric motor drivers, microprocessor, and the like. Accordingly, various embodiments of a power pack unit can include one or more of elements of the exoskeleton device 610 and/or pneumatic system 620.

Such components can be configured on the body of a user 101 in a variety of methods. One preferred embodiment is the inclusion of a power pack unit in a torso-worn pack that is not operably coupled to the leg actuator units 110 in any manner that transmits substantial mechanical forces to the leg actuator units 110. Another embodiment includes the integration of the power pack unit, or components thereof, into the leg actuator units 110 themselves. Various embodiments can include but are not limited to the following configurations: torso-mounted in a backpack, torso-mounted in a messenger bag, hip-mounted bag, mounted to the leg, integrated into the brace component, and the like. Further embodiments can separate the components of the power pack unit and disperse them into various configurations on the user 101. Such an embodiment may configure a pneumatic compressor on the torso of the user 101 and then integrate the batteries into the leg actuator units 110 of the exoskeleton system 100.

One aspect of the power supply 616 in various embodiments is that it must be connected to the brace component in such a manner as to pass the operable system power to the brace for operation. One preferred embodiment is the use of electrical cables to connect the power supply 616 and the leg actuator units 110. Other embodiments can use electrical cables and a pneumatic line 145 to deliver electrical power and pneumatic power to the leg actuator units 110. Various embodiments can include but are not limited to any configuration of the following connections: pneumatic hosing, hydraulic hosing, electrical cables, wireless communication, wireless power transfer, and the like.

In some embodiments, it can be desirable to include secondary features that extend the capabilities of a cable connection (e.g., pneumatic lines 145 and/or power lines) between the leg actuator units 110 and the power supply 616 and/or pneumatic system 620. One preferred embodiment includes retractable cables that are configured to have a small mechanical retention force to maintain cables that are pulled tight against the user with reduced slack remaining in the cable. Various embodiments can include, but are not limited to a combination of the following secondary features: retractable cables, a single cable including both fluidic and electrical power, magnetically-connected electrical cables, mechanical quick releases, breakaway connections designed to release at a specified pull force, integration into mechanical retention features on the users clothing, and the like. Yet another embodiment can include routing the cables in such a way as to minimize geometric differences between the user 101 and the cable lengths. One such embodiment in a dual knee configuration with a torso power supply can be routing the cables along the user's lower torso to connect the right side of a power supply bag with the left knee of the user. Such a routing can allow the geometric differences in length throughout the user's normal range of motion.

One specific additional feature that can be a concern in some embodiments is the need for proper heat management of the exoskeleton system 100. As a result, there are a variety of features that can be integrated specifically for the benefit of controlling heat. One preferred embodiment integrates exposed heat sinks to the environment that allow elements of the exoskeleton device 610 and/or pneumatic system 620 to dispel heat directly to the environment through unforced cooling using ambient airflow. Another embodiment directs the ambient air through internal air channels in a backpack 155 or other housing to allow for internal cooling. Yet another embodiment can extend upon this capability by introducing scoops on a backpack 155 or other housing in an effort to allow air flow through the internal channels. Various embodiments can include but are not limited to the following: exposed heat sinks that are directly connected to a high heat component; a water-cooled or fluid-cooled heat management system; forced air cooling through the introduction of a powered fan or blower; external shielded heat sinks to protect them from direct contact by a user, and the like.

In some cases, it may be beneficial to integrate additional features into the structure of the backpack 155 or other housing to provide additional features to the exoskeleton system 100. One preferred embodiment is the integration of mechanical attachments to support storage of the leg actuator units 110 along with the exoskeleton device 610 and/or pneumatic system 620 in a small package. Such an embodiment can include a deployable pouch that can secure the leg actuator units 110 against the backpack 155 along with mechanical clasps that hold the upper or lower arms 115, 120 of the actuator units 110 to the backpack 155. Another embodiment is the inclusion of storage capacity into the backpack 155 so the user 101 can hold additional items such as a water bottle, food, personal electronics, and other personal items. Various embodiments can include but are not limited to other additional features such as the following: a warming pocket which is heated by hot airflow from the exoskeleton device 610 and/or pneumatic system 620; air scoops to encourage additional airflow internal to the backpack 155; strapping to provide a closer fit of the backpack 155 on the user, waterproof storage, temperature-regulated storage, and the like.

In a modular configuration, it may be required in some embodiments that the exoskeleton device 610 and/or pneumatic system 620 be configured to support the power, fluidic, sensing and control requirements and capabilities of various potential configurations of the exoskeleton system. One preferred embodiment can include an exoskeleton device 610 and/or pneumatic system 620 that can be tasked with power a dual knee configuration or a single knee configuration (i.e., with one or two leg actuator units 110 on the user 101). Such a system 100 can support the requirements of both configurations and then appropriately configured power, fluidic, sensing and control based on a determination or indication of a desired operating configuration. Various embodiments exist to support an array of potential modular system configurations, such as multiple batteries, and the like.

In various embodiments, the exoskeleton device 100 can be operable to perform methods or portions of methods described in more detail below or in related applications incorporated herein by reference. For example, the memory 612 can include non-transitory computer readable instructions (e.g., software), which if executed by the processor 611, can cause the exoskeleton system 100 to perform methods or portions of methods described herein or in related applications incorporated herein by reference.

This software can embody various methods that interpret signals from the sensors 613 or other sources to determine how to best operate the system 100 to provide the desired benefit to the user. The specific embodiments described below should not be used to imply a limit on the sensors 613 that can be applied to such a system 100 or the source of sensor data. While some example embodiments can require specific information to guide decisions, it does not create an explicit set of sensors 613 that an exoskeleton system 100 for outdoor applications will require.

One aspect of control software can be the operational control of leg actuator units 110, exoskeleton device 610 and pneumatic system 620 to provide the desired response. There can be various suitable responsibilities of the operational control software. For example, as discussed in more detail below, one can be low-level control which can be responsible for developing baseline feedback for operation of the leg actuator units 110, exoskeleton device 610 and pneumatic system 620. Another can be intent recognition which can be responsible for identifying the intended maneuvers of the user 101 based on data from the sensors 613 and causing the exoskeleton system 100 to operate based on one or more identified intended maneuvers. A further example can include reference generation, which can include selecting the desired torques the system 100 should generate to best assist the user 101. It should be noted that this example architecture for delineating the responsibilities of the operational control software is merely for descriptive purposes and in no way limits the wide variety of software approaches that can be deployed on further embodiments of a system 100.

One method implemented by control software can be for the low-level control and communication of the system 100. This can be accomplished via a variety of methods as required by the specific joint and need of the user. In a preferred embodiment, the operational control is configured to provide a desired torque by the leg actuator unit 110 at the user's joint. In such a case, the system 100 can create low-level feedback to achieve a desired joint torque by the leg actuator units 110 as a function of feedback from the sensors 613 of the system 100. For example, such a method can include obtaining sensor data from one or more sensors 613, determining whether a change in torque by the leg actuator unit 110 is necessary, and if so, causing the pneumatic system 620 change the fluid state of the leg actuator unit 110 to achieve a target joint torque by the leg actuator unit 110. Various embodiments can include, but are not limited to, the following: current feedback; recorded behavior playback; position-based feedback; velocity-based feedback; feedforward responses; volume feedback which controls a fluidic system 620 to inject a desired volume of fluid into an actuator 130, and the like.

Another method implemented by operational control software can be for intent recognition of the user's intended behaviors. This portion of the operational control software, in some embodiments, can indicate any array of allowable behaviors that the system 100 is configured to account for. In one preferred embodiment, the operational control software is configured to identify two specific states: Skiing, and Not Skiing. In such an embodiment, to complete intent recognition, the system 100 can use user input and/or sensor readings to identify when it is safe, desirable or appropriate to provide assistive actions for skiing. For example, in some embodiments, intent recognition can be based on input received via the user interface 615, which can include an input for Skiing or Not Skiing. Accordingly, in some examples, the use interface can be configured for a binary input consisting of Skiing or Not Skiing.

In some embodiments, a method of skiing intent recognition can include the exoskeleton device 610 obtaining data from the sensors 613 and determining, based at least in part of the obtained data, whether the data corresponds to a user state of Skiing or Not Skiing. Where a change in state has been identified, the system 100 can be re-configured to operate in the current state. For example, the exoskeleton device 610 can determine that the user 101 is in a Not Skiing state such as walking, riding a chairlift or siting at a ski lodge and can configure the system 100 to operate in a Not Skiing configuration. For example, such a Not Skiing configuration can, compared to a Skiing configuration, provide for a wider range of motion; provide no torque or minimal torque to the leg actuation units 110; save power and fluid by minimizing processing and fluidic operations; cause the system to be alert for supporting a wider variety of non-skiing motion, and the like.

The exoskeleton device 610 can monitor the activity of the user 101 can determine that the user is skiing or is about to ski (e.g., based on sensor data and/or user input), and can then configure the system 100 to operate in a Skiing configuration. For example, such a Skiing configuration, compared to a Not Skiing configuration, can allow for a more limited range of motion that would be present during skiing (as opposed to motions during non-skiing); provide for high or maximum performance by increasing the processing and fluidic response of the system 100 to support skiing; and the like. When the user 101 finishes a ski run, is identified as resting, or the like, the system 100 can determine that the user is no longer skiing (e.g., based on sensor data and/or user input) and can then configure the system 100 to operate in the Not Skiing configuration.

In some embodiments, there can be a plurality of Skiing states, or Skiing sub-states that can be determined by the system 100, including hard skiing, moderate skiing, light skiing, downhill, moguls, jumping, powder, ice, trees, open-slope, racing, recreational, and the like (e.g., based on sensor data and/or user input). Such states can be based on the difficulty of the skiing, skill of the user, snow conditions, weather conditions, elevation, angle of the ski slope, desired performance level, power-saving, and the like. Accordingly, in various embodiments, the exoskeleton system 100 can adapt for various specific types of skiing based on a wide variety of factors.

Also, it should be clear that while various examples, discussed herein relate to downhill snow skiing, such examples should not be construed as limiting and various other sports or activities are within the scope and spirit of the present disclosure including snowboarding, telemark skiing, mono-skiing, cross-country skiing, ski-jumping, freestyle skiing, ski mountaineering, ice skating, and the like. Also, it should be clear that the present disclosure is intended to cover similar sports or activities that are not necessarily performed on snow or ice, such as sand, dirt or volcano skiing, skateboarding, surfing, mountain biking, BMX biking, roller blading, rock climbing, and the like.

In another embodiment, operational control software can be configured to identify a variety of states and their safe transitions: skiing, standing, turning, stopping, chairlift, and the like. Identifying a given skiing state and possible transitions from the state can be desirable because it can allow the system 100 to predict, anticipate and prepare for possible transitions to provide improved performance and support for the user. For example, where the user 101 is determined to be in a chairlift state, the system 100 can predict that the next state of the user 101 will be dismounting the chairlift given that dismounting the chair lift is essentially the only possible next state for the user 101. Accordingly, the system 100 can anticipate and prepare for dismounting the chairlift. For example, the system can 100 focusing or weighting state detection to chairlift dismounting states since other states may be extremely unlikely or impossible. Also, the system 100 can physically prepare for supporting a chairlift dismounting state by preparing the pneumatic system 620 for supporting a chairlift dismounting state, or the like. Various embodiments can include any suitable combination of specific maneuver states and it is not to be assumed that the inclusion of any added states necessarily changes the behavior or responsibility of the operational control software to complete intent recognition.

Additionally, the system 100 can be configured to identify crash, danger or emergency states and respond accordingly. For example, sensor data can indicate that the user is crashing or may have already crashed while skiing and can change the configuration of the leg actuation units 110 accordingly, such as releasing all torque, performing a diagnostic, and the like. For example, when a crash event is identified, the system can generate a free reference where the actuation units 110 work to maintain zero torque on the knee joint of the user 101 throughout the crash.

Similarly, system 100 may identify a danger or emergency of the user, such as a hard fall, crash followed by lack of movement by the user, or the like. In some examples, in response to danger or an emergency detected, the system 100 can be configured to alert authorities, activate a location beacon, activate an audio or visual alarm on the system 100, or the like.

In another embodiment, an intent recognition method can identify a jump behavior where a portion of one or both of the skis 192 have left the ground during a jump. For example, were the system 100 identifies a jump state, the systems 100 can produce references to provide zero additional torque to the legs during the flight phase, but prepares to provide a large impulse of torque to brace the user 101 upon landing when a landing state is observed. In some embodiments, an amount of impulse torque to brace the user 101 can be determined based on factors such as length of time of the jump event; speed, velocity or acceleration of the user; identified snow conditions; orientation of the user 101, and the like. Additionally, the system 100 can be configured to differentiate between a jump event and an event when a user is simply lifting a ski 192 off the ground; for example, based on data from sensors 613.

In another embodiment, an intent recognition method can identify a walking maneuver. For example, when a walking maneuver is identified, the exoskeleton system 100 can generate references to free the legs 102 in an effort to provide no assistance but also not get in the user's way. Other embodiments may be configured to identify more phases of a walking gate to provide assistance during stance but not swing, for example, or extend the assistance to provide a substantial benefit while hiking in the system 100. In another embodiment, the software can identify a sustained standing behavior and provide extension assistance at the user's knees 103 to support the body during extended standing. Various embodiments can include any one of, none of, all of, or more than these maneuvers.

Another method implemented by operational control software can be the development of desired referenced behaviors for the specific joints providing assistance. This portion of the control software can tie together identified maneuvers with the level control. For example, when the system 100 identifies an intended user maneuver, the software can generate reference behaviors that define the torques, or positions desired by the actuators 130 in the leg actuation units 110. In one embodiment, the operational control software generates references to make the leg actuation units 110 simulate a mechanical spring at the knee 103 via the configuration actuator 130. The operational control software can generate torque references at the knee joints that are a linear function of the knee joint angle. In another embodiment, the operational control software generates a volume reference to provide a constant standard volume of air into a pneumatic actuator 130. This can allow the pneumatic actuator 130 to operate like a mechanical spring by maintaining the constant volume of air in the actuator 130 regardless of the knee angle, which can be identified through feedback from one or more sensors 613.

In another embodiment, a method implemented by the operational control software can generate torques in a dual leg actuation unit 110 configuration (e.g., where left and right leg actuation units 110L, 110R are worn by a user 1010) such that the behavior is coordinated across or between the leg actuation units 110. In one embodiment, the operational control software coordinates the behavior of the leg actuation units 110 to direct system torque away from the most bent leg 103. In this example case, the leg actuation units 110 can operate opposite of a spring where the leg 102 receives less torque as the knee 103 is bent more, but based on the relative angles of the two knees 103L, 103R of the two legs 102L, 102R. For example, if both legs 102L, 102R are bent the same amount, the legs 102L, 102R can receive the same torque reference via the left and right leg actuation units 110L, 110R respectively, but if only one leg 102 is bent (e.g., if the left leg 102L is bent), the torque applied by the actuation units 110 can skewed towards the leg 102 that is more straight (e.g., to the right leg 102R if the left leg 102L is bent).

Accordingly, a method of operating an exoskeleton system can include the exoskeleton device 610 obtaining sensor data from the sensors 610 indicating an amount of bend in the legs 102L, 102R of a user 101 based on the configuration of left and right leg actuation units 110L, 110R and determining a difference between the amount of bend in the legs 102L, 102R of a user 101. Where one leg 102L is bent more than the other leg 102R, the more-bent leg 102L can receive less torque than the more-bent leg 102R, with the amount of less torque being applied based at least in part on the difference between the amount of bend in the legs 102L, 102R of the user 101.

In another embodiment, a method implemented by the operational control software can include evaluating the balance of the user 101 while skiing and directing torque in such a way to encourage the user 101 to remain balanced by directing knee assistance to the leg 102 that is on the outside of the users current balance profile. Accordingly, a method of operating an exoskeleton system can include the exoskeleton device 610 obtaining sensor data from the sensors 610 indicating a balance profile of a user 101 based on the configuration of left and right leg actuation units 110L, 110R and/or environmental sensors such as position sensors, accelerometers, and the like. The method can further include determining a balance profile based on the obtained data, including and outside and inside leg, and then increasing torque to the actuation unit 110 associated with the leg 102 identified as the outside leg.

Various embodiments can use but are not limited to kinematic estimates of posture, joint kinetic profile estimates, as well as observed estimates of body pose. Various other embodiments exist for methods of coordinating two legs 102 to generate torques including but not limited to guiding torque to the most bent leg; guiding torque based on the mean amount of knee angle across both legs; scaling the torque as a function of speed or acceleration; and the like. It should also be noted that yet another embodiment can include a combination of various individual reference generation methods in a variety of matters which include but are not limited to a linear combination, a maneuver specific combination, or a non-linear combination.

In some cases where a method includes operational control software coordinating control between various legs 102, it can be helpful to incorporate user preference to account for a variety of factors such as self-selected skiing style or skill. In such a scenario, there can be factors used to combine or scale the parameters for operating the exoskeleton system 100 while skiing. In one embodiment, the user 101 can provide input (e.g., via user interface 615) about the overall amount of torque desired which can be used in an operational control method to scale the output torque reference up or down based on the input from the user 101.

In another embodiment, an operational control method can blend two primary reference generation techniques: one reference focused on static assistance and one reference focused on leading the user 101 into their upcoming behavior. In some examples, the user 101 can select how much predictive assistance is desired while using the exoskeleton system 100. For example, by a user 101 indicating a large amount of predictive assistance, the system 100 can be configured to very responsive and may be well configured for a skilled skier on a challenging terrain. The user 101 could also indicate a desire for very low amount of predictive assistance, which can result in slower system performance, which may be better tailored towards a learning skier or less challenging terrain.

Various embodiments can incorporate user intent in a variety of manners and the examples embodiments presented above should not be interpreted as limiting in any way. For example, method of determining and operating an exoskeleton system 100 can include systems and method of U.S. patent application Ser. No. 15/887,866, filed Feb. 02, 2018 entitled “SYSTEM AND METHOD FOR USER INTENT RECOGNITION,” having attorney docket number 0110496-003US0, which is incorporated herein by reference. Also, various embodiments can use user intent in a variety of manners including as a continuous unit, or as a discrete setting with only a few indicated values.

At times it can be beneficial for operational control software to manipulate its control to account for a secondary or additional objective in order to maximize device performance or user experience. In one embodiment, the exoskeleton system 100 can provide an elevation-aware control over a central compressor or other components of a pneumatic system 620 to account for the changing density of air at different elevations. For example, operational control software can identify that the system is operating at a higher elevation based on data from sensors 613, or the like, and provide more current to the compressor in order to maintain electrical power consumed by the compressor. Accordingly, a method of operating a pneumatic exoskeleton system 100 can include obtaining data indicating air density where the pneumatic exoskeleton system 100 is operating (e.g., elevation data), determining optimal operating parameters of the pneumatic system 620 based on the obtained data, and configuring operation based on the determined optimal operating parameters. In further embodiments, operation of a pneumatic exoskeleton system 100 can be tuned based on environmental temperature, which may affect air volumes.

In another embodiment, the system 100 can monitor the ambient audible noise levels and vary the control behavior of the system 100 to reduce the noise profile of the system. For example, when a user 101 is in a quiet public place or quietly enjoying the outdoors alone or with others, noise associated with actuation of the leg actuation units 110 can be undesirable (e.g., noise of running a compressor or inflating or deflating actuators 130). Accordingly, in some embodiments, the sensors 613 can include a microphone that detects ambient noise levels and can configure the exoskeleton system 100 to operate in a quiet mode when ambient noise volume is below a certain threshold. Such a quiet mode can configure elements of a pneumatic system 620 or actuators 130 to operate more quietly, or can delay or reduce frequency of noise made by such elements.

In the case of a modular system, it can be desirable in various embodiments for operational control software to operate differently based on the number of leg actuation units 110 operational within the exoskeleton system 100. For example, in some embodiments, a modular dual-knee system 100 (see e.g., FIGS. 1 and 2) can also operate in a single knee configuration where only one of two leg actuation units 110 are being worn by a user 101 (see e.g., FIGS. 3 and 4) and the system 100 can generate references differently when in a two-leg configuration compared to a single leg configuration. Such an embodiment can use a coordinated control approach to generate references where the system 100 is using inputs from both leg actuation units 110 to determine the desired operation. However in a single-leg configuration, the available sensor information may have changed, so in various embodiments the system 100 can implement a different control method. In various embodiments this can be done to maximize the performance of the system 100 for the given configuration or account for differences in available sensor information based on there being one or two leg actuation units 110 operating in the system 100.

Accordingly, a method of operating an exoskeleton system 100 can include a startup sequence where a determination is made by the exoskeleton device 610 whether one or two leg actuation units 110 are operating in the system 100; determining a control method based on the number of actuation units 110 that are operating in the system 100; and implementing and operating the system 100 with the selected control method. A further method operating an exoskeleton system 100 can include monitoring by the exoskeleton device 610 of actuation units 110 that are operating in the system 100, determining a change in the number of actuation units 110 operating in the system 100, and then determining and changing the control method based on the new number of actuation units 110 that are operating in the system 100.

For example, the system 100 can be operating with two actuation units 110 and with a first control method. The user 101 can disengage one of the actuation units 110, and the exoskeleton device 610 can identify the loss of one of the actuation units 110 and the exoskeleton device 610 can determine and implement a new second control method to accommodate loss of one of the actuation units 110. In some examples, adapting to the number of active actuation units 110 can be beneficial where one of the actuation units 110 is damaged or disconnected during use and the system 100 is able to adapt automatically so the user 101 can still continue skiing uninterrupted despite the system 100 only having a single active actuation unit 110.

In various embodiments, operational control software can adapt a control method where user needs are different between individual actuation units 110 or legs 102. In such an embodiment, it can be beneficial for the exoskeleton system 100 to change the torque references generated in each actuation unit 110 to tailor the experience for the user 101. One example is of a dual knee exoskeleton system 100 (see e.g., FIGS. 1 and 2) where a user 101 has significant weakness issues in a single leg 102, but only minor weakness issues in the other leg 102. In this example, the exoskeleton system 100 can be configured to scale down the output torques on the less-affected limb compared to the more-affected limb to best meet the needs of the user 101.

Such a configuration based on differential limb strength can be done automatically by the system 100 and/or can be configured via a user interface 616, or the like. For example, in some embodiments, the user 101 can perform a calibration test while using the system 100, which can test relative strength or weakness in the legs 102 of the user 101 and configure the system 100 based on identified strength or weakness in the legs 102. Such a test can identify general strength or weakness of legs 102 or can identify strength or weakness of specific muscles or muscle groups such as the quadriceps, calves, hamstrings, gluteus, gastrocnemius; femoris, sartorius, soleus, and the like.

Another aspect of a method for operating an exoskeleton system 100 can include control software that monitors the system 100. A monitoring aspect of such software can, in some examples, focus on monitoring the state of the system 100 and the user 101 throughout normal operation in an effort to provide the system 100 with situational awareness and understanding of sensor information in order to drive user understanding and device performance. One aspect of such monitoring software can be to monitor the state of the system 100 in order to provide device understanding to achieve a desired performance capability. A portion of this can be the development of a system body pose estimate. In one embodiment, the exoskeleton device 610 uses the onboard sensors 613 to develop a real-time understanding of the user's pose. In other words, data from sensors 613 can be used to determine the configuration of the actuation units 110, which along with other sensor data can in turn be used to infer a user pose or body configuration estimate of the user 101 wearing the actuation units 110.

At times, and in some embodiments, it can be unrealistic or impossible for the system 100 to directly sense all important aspects of the system pose due to the sensing modalities not existing or their inability to be practically integrated into the hardware. As a result, the system 100 in some examples can rely on a fused understanding of the sensor information around an underlying model of the user's body and the system 100 the user is wearing. In one embodiment of a dual leg knee assistance system 100, the exoskeleton device 610 can use an underlying model of the user's lower extremity and torso body segments to enforce a relational constraint between the otherwise disconnected sensors 613. Such a model can allow the system 100 to understand the constrained motion of the two legs 102 in that they are mechanically connected through the user's kinematic chain created by the body. This approach can be used to ensure that the estimates for knee orientation are properly constrained and biomechanically valid. In various embodiments, the system 100 can includes sensors 613 embedded in the exoskeleton device 610 and/or pneumatic system 620 to provide a fuller picture of the system posture. In yet another embodiment, the system 100 can include logical constraints that are unique to the application in an effort to provide additional constraints on the operation of the pose estimation. This can be desirable, in some embodiments, in conditions where ground truth information is unavailable such as highly dynamic actions, where the system 100 is denied an external GPS signal, or the earth's magnetic field is distorted.

Another aspect of a method of controlling an exoskeleton system 100 can include monitoring software configured to identify geolocation based triggers for different device behavior. In one embodiment, the system 100 can determine a ski run the user 101 is about to go down and then switch to a pre-recorded or previously user-defined or system-defined set of parameters to appropriately fit the identified ski run. For example, if a user 101 is going down a low difficulty ski slope she may choose to specify a low amount of predictive assistance for the system 100, whereas before she goes down a high difficulty ski run she may typically switch the predictive assistance to a much higher level. In future visits to the low difficulty ski run, the system can use the geolocation based monitoring to identify the upcoming run and suggest to the user or automatically switch to the lower predictive setting and do the inverse when the monitoring software identifies the user 101 is entering a high difficulty area. Various embodiments can use this capability in a variety of methods which can include but are not limited to the discrete identification of specific geolocated indicators, or the continuous monitoring of geolocated triggers with the ability to manipulate performance as the user 101 is using the device 100.

Identifying location of the user 101 and/or exoskeleton system 100 can be done in various suitable way, including via GPS system of the exoskeleton device 610; a user device such as a smartphone or wearable device; or location tags such as an RFID, wireless signal, or the like. Identifying a given location as being associated with the beginning of a ski run, a portion of a ski run, an end of a ski run, or non-ski run location can be done in various suitable ways. In one example, an administrator can define geographic boundaries or locations for different ski runs, non-ski run locations, beginning and/or end of a ski run, or the like, and the determined location of the user 101 and/or exoskeleton system 100 can be compared to these defined boundaries or locations. Additionally, locations of different items or attributes of a location can be defined such as terrain, hazards, points of interest, or routes, which can include as open slope, trees, rocks, jumps, cliffs, crevasses, avalanche zones, chair lifts, slope angles, moguls, difficulty rating, and the like.

In some embodiments, local tags such as gates, beacons, or the like can identify a location and/or attributes of a location. For example, the user passing through a gate or coming within proximity of a beacon (e.g., RFID, wireless signal, or the like) can identify a location and/or attributes of a location, which can be used to configure an exoskeleton device 100. In some embodiments, such a gate or beacon can communicate information regarding location and/or attributes of a location or such a gate or beacon can communicate an identifier, which the exoskeleton system 100 can use to lookup information corresponding to a location and/or attributes of a location.

For example, a user 101 with an exoskeleton system 100 can come into proximity of a beacon, pass through a gate or be geo-located at a location that can indicate that the user 101 is at the start of a black diamond ski run and the exoskeleton system 100 can be configured accordingly. Similarly, changes to the configuration of the system 100 can be based on being at the beginning of a chairlift, at the end of a chairlift, at the end of a ski run, entering a portion of a ski run with a different difficulty, entering a ski lodge, and the like.

In some embodiments, changes in configuration of the system 100 based location and/or location attributes can be performed automatically and/or with input from the user 101. For example, in some embodiments, the system 100 can provide one or more suggestions for a change in configuration based location and/or location attributes and the user 101 can choose to accept such suggestions. In further embodiments, some or all configuration of the system 100 based location and/or location attributes can occur automatically without user interaction.

In some embodiments, tagging locations and recording location information and attributes can be initiated by a user 101. For example, before going down a new ski run, the user can tag the current location of user as being the start of a ski run, which may or may not include ski run attributes such as difficulty level, or the like. Additionally, in some examples, the user can record activity of the system 100 during a ski run, which can be associate with that ski run. Accordingly, some embodiments allow users to generate profiles for a plurality of ski runs, which can be used to identify when the user is at the start of a given ski run, how to configure the system 100 for the ski run, how to change the configuration of the system 100 during the ski run, and the like.

Various embodiments can include the collection and storage of data from the system 100 throughout operation. In one embodiment, this can include the live streaming of the data collected on the exoskeleton device 610 to a cloud storage location via the communication unit(s) 614 through an available wireless communication protocol or storage of such data on the memory 612 of the exoskeleton device 610, which may then be uploaded to another location via the communication unit(s) 614. For example, when the system 100 obtains a network connection, recorded data can be uploaded to the cloud at a communication rate that is supported by the available data connection. Various embodiments can include variations of this, but the use of monitoring software to collect and store data about the device 100 locally and/or remotely for retrieval at a later time for a device such as this can be included in various embodiments.

In some embodiments, once such data has been recorded, it can be desirable to use the data for a variety of different applications. One such application can be the use of the data to develop further oversight functions on the device 100 in an effort to identify device system issues that are of note. One embodiment can be the use of the data to identify a specific exoskeleton device 100 or leg actuator unit 110 among a plurality, whose performance has varied significantly over a variety of uses. Another use of the data can be to provide it back to the user 101 to gain a better understanding of how they ski. One embodiment of this can be providing the data back to the user 101 through a mobile application that can allow the user 101 to review their day skiing on a mobile device. Yet another use of such device data can be to synchronize playback of data with an external data stream to provide additional context. One embodiment is a system that incorporates the GPS data from a companion smartphone with the data stored natively on the device. Another embodiment can include the time synchronization of recorded video with the data stored that was obtained from the device 100. Various embodiments can use these methods for immediate use of data by the user to evaluate their own performance, for later retrieval by the user to understand behavior from the past, for users to compare with other users in-person or through an online profile, by developers to further the development of the system, and the like.

Another aspect of a method of operating an exoskeleton system can include monitoring software identifying of user-specific traits. For example, the system 100 can provide an awareness of how a specific skier 101 operates in the system 100 and over time can develop a profile of the user's specific traits in an effort to maximize device performance for that user. One embodiment can include the device 100 identifying a user-specific skiing type in an effort to identify the skiing style or level of the specific user. Through an evaluation of the skier's form and stability during skiing actions (e.g., via analysis of data obtained from the sensors 613 or the like), the exoskeleton device 610 in some examples can identify if the skier is highly skilled, novice, or beginner. This understanding of skill level or style can allow the system 100 to better tailor control references to the specific user.

In further embodiments, the exoskeleton system 100 can also use individualized information about a given user to build a profile of the user's biomechanic response to the exoskeleton system 100. One embodiment can include the system 100 collecting data regarding the user to develop an estimate of the individual user's knee strain in an effort to assist the user with understanding the burden the user has placed on his legs 102 throughout skiing. This can allow the system 100 to alert a user if the user has reached a historically significant amount of knee strain to alert the user that he may want to stop to spare himself potential pain or discomfort.

Another embodiment of individualized biomechanic response can be the system collecting data regarding the user to develop an individualized system model for the specific user. In such an embodiment the individualized model can be developed through a system ID (identification) method that evaluates the system performance with an underlying system model and can identify the best model parameters to fit the specific user. The system ID in such an embodiment can operate to estimate segment lengths and masses (e.g., of legs 102 or portions of the legs 102) to better define a dynamic user model. In another embodiment, these individualized model parameters can be used to deliver user specific control responses as a function of the users specific masses and segment lengths. In some example of a dynamic model, this can help significantly with the devices ability to account for dynamic forces during highly challenging ski activities.

In various embodiments the device 100 can monitor itself in relation to a community of skiers around the user 101 and device 100 where the others skiers may or may not be wearing an exoskeleton device 100 of their own. In addition some embodiments being configured to evaluate user time or location in relation to other skiers, the device 100 in some examples can allow the user to compare and broadcast a much wider variety of information with friends and others in proximity of the user.

One embodiment of community monitoring can include playback or broadcast of posture data during a ski run. This can allow others to observe the body posture of another user correlated to specific locations on the ski run. In some embodiments, this information can be displayed in a strictly private mode where users can selectively share their data with selected friends, and in other embodiments the data can be broadcast with nearby users for comparison or observation. In some embodiments it can be beneficial to compare ski performance on a specific run to that of another selected user. This can be done through a comparison of a specific user to the performance of a friend, or to the performance of specified target user such as a ski professional. In another embodiment, community ski data can be aggregated to determine the specific snowy conditions of the run. In another embodiment, the system 100 can determine when a skier has had a serious crash and appears to be injured. The system 100 can then use this information to alert nearby skiers or safety personnel to check in on the user.

In various embodiments, the exoskeleton system 100 can provide for various types of user interaction. For example such interaction can include input from the user 101 as needed into the system 100 and the system 100 providing feedback to the user 101 to indicate changes in operation of the system 100, status of the system 100, and the like. As discussed herein, user input and/or output to the user can be provided via one or more user interface 615 of the exoskeleton device 610 or can include various other interfaces or devices such as a smartphone user device. Such one or more user interfaces 615 or devices can be located in various suitable locations such as on a backpack 155 (see e.g., FIGS. 1, 2 and 7), the pneumatic system 620, leg actuation units 110, or the like.

The system 100 can be configured to obtain intent from the user 101. For example, this can be accomplished through a variety of input devices that are either integrated directly with the other components of the system 100 (e.g., one or more user interface 615), or external and operably connected with the system 100 (e.g., a smartphone, wearable device, remote server, or the like). In one embodiment, a user interface 615 can comprise a button that is integrated directly into one or both of the leg actuation units 110 of the system 100. This single button can allow the user 101 to indicate a variety of inputs. In another embodiment, a user interface 615 can be configured to be provided through a torso-mounted lapel input device that is integrated with the exoskeleton device 610 and/or pneumatic system 620 of the exoskeleton system 100. In one example, such a user interface 615 can comprise a button that has a dedicated enable and disable functionality; a selection indicator dedicated to the user's desired power level (e.g., an amount or range of force applied by the leg actuator units 100); and a selector switch that can be dedicated to the amount of predictive intent to integrate into the control of the system 100. Such an embodiment of a user interface 615 can use a series of functionally locked buttons to provide the user 101 with a set of understood indicators that may be required for normal operation in some examples. Yet another embodiment can include a mobile device that is connected to the exoskeleton system 100 via a Bluetooth connection or other suitable wired or wireless. Use of a mobile device or smartphone as a user interface 615 can allow the user a far greater amount of input to the device due to the flexibility of the input method. Various embodiments can use the options listed above or combinations and variants thereof, but are in no way limited to the explicitly stated combinations of input methods and items.

The one or more user interface 615 can provide information to the user 101 to allow the user to appropriately use and operate the device 101. Such feedback can be in a variety of visual, haptic and/or audio methods including, but not limited to, feedback mechanisms integrated directly one or both of the actuation units 110; feedback through operation of the actuation units 110; feedback through external items not integrated with the system 100 (e.g., a mobile device); and the like. Some embodiments can include integration of feedback lights in the actuation units 110, of the exoskeleton system 100. In one such embodiment, five multi-color lights are integrated into the knee joint 125 or other suitable location such that the user 101 can see the lights. These lights can be used to provide feedback of system errors, device power, successful operation of the device, and the like. In another embodiment, the system 100 can provide controlled feedback to the user to indicate specific pieces of information. In such embodiments, the system 100 can pulse the joint torque on one or both of the leg actuation units 110 to the maximum allowed torque when the user changes the maximum allowable user-desired torque, which can provide a haptic indicator of the torque settings. Another embodiment can sue an external device such as a mobile device where the system 100 can provide alert notifications for device information such as operational errors, setting status, power status, and the like. Types of feedback can include, but are not limited to, lights, sounds, vibrations, notifications, and operational forces integrated in a variety of locations that the user 101 may be expected to interact with including the actuation units 110, pneumatic system 620, backpack 155, mobile devices, or other suitable methods of interactions such as a web interface, SMS text or email.

The communication unit 614 can include hardware and/or software that allows the exoskeleton system 100 to communicate with other devices, including a user device, a classification server, other exoskeleton systems 100, or the like, directly or via a network. For example, the exoskeleton system 100 can be configured to connect with a user device, which can be used to control the exoskeleton system 100, receive performance data from the exoskeleton system 100, facilitate updates to the exoskeleton system, and the like. Such communication can be wired and/or wireless communication.

In some embodiments, the sensors 613 can include any suitable type of sensor, and the sensors 613 can be located at a central location or can be distributed about the exoskeleton system 100. For example, in some embodiments, the exoskeleton system 100 can comprise a plurality of accelerometers, force sensors, position sensors, and the like, at various suitable positions, including at the arms 115, 120, joint 125, actuators 130 or any other location. Accordingly, in some examples, sensor data can correspond to a physical state of one or more actuators 130, a physical state of a portion of the exoskeleton system 100, a physical state of the exoskeleton system 100 generally, and the like. In some embodiments, the exoskeleton system 100 can include a global positioning system (GPS), camera, range sensing system, environmental sensors, elevation sensor, microphone, thermometer, or the like. In some embodiments, the exoskeleton system 100 can obtain sensor data from a user device such as a smartphone, or the like.

The pneumatic system 620 can comprise any suitable device or system that is operable to inflate and/or deflate the actuators 130 individually or as a group. For example, in one embodiment, the pneumatic system can comprise a diaphragm compressor as disclosed in related patent application Ser. No. 14/577,817 filed Dec. 19, 2014.

As discussed herein, various suitable exoskeleton systems 100 can be used in various suitable ways and for various suitable applications. However, such examples should not be construed to be limiting on the wide variety of exoskeleton systems 100 or portions thereof that are within the scope and spirit of the present disclosure. Accordingly, exoskeleton systems 100 that are more or less complex than the examples of FIGS. 1-6 are within the scope of the present disclosure.

Additionally, while various examples relate to an exoskeleton system 100 associated with the legs or lower body of a user, further examples can be related to any suitable portion of a user body including the torso, arms, head, legs, or the like. Also, while various examples relate to exoskeletons, it should be clear that the present disclosure can be applied to other similar types of technology, including prosthetics, body implants, robots, or the like. Further, while some examples can relate to human users, other examples can relate to animal users, robot users, various forms of machinery, or the like.

Turning to FIGS. 8a, 8b, 9a and 9b , examples of a leg actuator unit 110 can include the joint 125, bellows 130, constraint ribs 135, and base plates 140. More specifically, FIG. 8a illustrates a side view of a leg actuator unit 110 in a compressed configuration and FIG. 8b illustrates a side view of the leg actuator unit 110 of FIG. 8a in an expanded configuration. FIG. 9a illustrates a cross-sectional side view of a leg actuator unit 110 in a compressed configuration and FIG. 9b illustrates a cross-sectional side view of the leg actuator unit 110 of FIG. 9a in an expanded configuration.

As shown in FIGS. 8a, 8b, 9a and 9b , the joint 125 can have a plurality of constraint ribs 135 extending from and coupled to the joint 125, which surround or abut a portion of the bellows 130. For example, in some embodiments, constraint ribs 135 can abut the ends 132 of the bellows 130 and can define some or all of the base plates 140 that the ends 132 of the bellows 130 can push against. However, in some examples, the base plates 140 can be separate and/or different elements than the constraint ribs 135 (e.g., as shown in FIG. 1). Additionally, one or more constraint ribs 135 can be disposed between ends 132 of the bellows 130. For example, FIGS. 8a, 8b, 9a and 9b illustrate one constraint rib 135 disposed between ends 132 of the bellows 130; however, further embodiments can include any suitable number of constraint ribs 135 disposed between ends of the bellows 130, including 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 50, 100 and the like. In some embodiments, constraint ribs can be absent.

As shown in cross sections of FIGS. 9a and 9b , the bellows 130 can define a cavity 131 that can be filled with fluid (e.g., air), to expand the bellow 130, which can cause the bellows to elongate along axis B as shown in FIGS. 8b and 9b . For example, increasing a pressure and/or volume of fluid in the bellows 130 shown in FIG. 8a can cause the bellows 130 to expand to the configuration shown in FIG. 8b . Similarly, increasing a pressure and/or volume of fluid in the bellows 130 shown in FIG. 9a can cause the bellows 130 to expand to the configuration shown in FIG. 9b . For clarity, the use of the term ‘bellows’ is to describe a component in the described actuator unit 110 and is not intended to limit the geometry of the component. The bellows 130 can be constructed with a variety of geometries including but not limited to: a constant cylindrical tube, a cylinder of varying cross-sectional area, a 3-D woven geometry that inflates to a defined arc shape, and the like. The term ‘bellows’ should not be construed to necessary include a structure having convolutions.

Alternatively, decreasing a pressure and/or volume of fluid in the bellows 130 shown in FIG. 8b can cause the bellows 130 to contract to the configuration shown in FIG. 8a . Similarly, decreasing a pressure and/or volume of fluid in the bellows 130 shown in FIG. 9b can cause the bellows 130 to contract to the configuration shown in FIG. 9a . Such increasing or decreasing of a pressure or volume of fluid in the bellows 130 can be performed by pneumatic system 620 and pneumatic lines 145 of the exoskeleton system 100, which can be controlled by the exoskeleton device 610 (see FIG. 6).

In one preferred embodiment, the bellows 130 can be inflated with air; however, in further embodiments, any suitable fluid can be used to inflate the bellows 130. For example, gasses including oxygen, helium, nitrogen, and/or argon, or the like can be used to inflate and/or deflate the bellows 130. In further embodiments, a liquid such as water, an oil, or the like can be used to inflate the bellows 130. Additionally, while some examples discussed herein relate to introducing and removing fluid from a bellows 130 to change the pressure within the bellows 130, further examples can include heating and/or cooling a fluid to modify a pressure within the bellows 130.

As shown in FIGS. 8a, 8b, 9a and 9b , the constraint ribs 135 can support and constrain the bellows 130. For example, inflating the bellows 130 cause the bellows 130 expand along a length of the bellows 130 and also cause the bellows 130 to expand radially. The constraint ribs 135 can constrain radial expansion of a portion of the bellows 130. Additionally, as discussed herein, the bellows 130 comprise a material that is flexible in one or more directions and the constraint ribs 135 can control the direction of linear expansion of the bellows 130. For example, in some embodiments, without constraint ribs 135 or other constraint structures the bellows 130 would herniate or bend out of axis uncontrollably such that suitable force would not be applied to the base plates 140 such that the arms 115, 120 would not be suitably or controllably actuated. Accordingly, in various embodiments, the constraint ribs 135 can be desirable to generate a consistent and controllable axis of expansion B for the bellows 130 as they are inflated and/or deflated.

In some examples, the bellows 130 in a deflated configuration can substantially extend past a radial edge of the constraint ribs 135 and can retract during inflation to extend less past the radial edge of the constraint ribs 135, to extend to the radial edge of the constraint ribs 135, or to not extend less past the radial edge of the constraint ribs 135. For example, FIG. 9a illustrates a compressed configuration of the bellows 130 where the bellows 130 substantially extend past a radial edge of the constraint ribs 135 and FIG. 9b illustrates the bellows 130 retracting during inflation to extend less past the radial edge of the constraint ribs 135 in an inflated configuration of the bellows 130.

Similarly, FIG. 10a illustrates a top view of a compressed configuration of bellows 130 where the bellows 130 substantially extend past a radial edge of constraint ribs 135 and FIG. 10b illustrates a top view where the bellows 130 retract during inflation to extend less past the radial edge of the constraint ribs 135 in an inflated configuration of the bellows 130.

Constraint ribs 135 can be configured in various suitable ways. For example, FIGS. 10a, 10b and 11 illustrate a top view of an example embodiment of a constraint rib 135 having a pair of rib arms 136 that extend from the joint 125 and couple with a circular rib ring 137 that defines a rib cavity 138 through which a portion of the bellows 130 can extend (e.g., as shown in FIGS. 9a, 9b, 10a and 10b ). In various examples, the one or more constraint ribs 135 can be a substantially planar element with the rib arms 136 and rib ring 137 being disposed within a common plane.

In further embodiments, the one or more constraint ribs 135 can have any other suitable configuration. For example, some embodiments can have any suitable number of rib arms 136, including one, two, three, four, five, or the like. Additionally, the rib ring 137 can have various suitable shapes and need not be circular, including one or both of an inner edge that defines the rib cavity 138 or an outer edge of the rib ring 137.

In various embodiments, the constraining ribs 135 can be configured to direct the motion of the bellows 130 through a swept path about some instantaneous center (which may or may not be fixed in space) and/or to prevent motion of the bellows 130 in undesired directions, such as out-of-plane buckling. As a result, the number of constraining ribs 135 included in some embodiments can vary depending on the specific geometry and loading of the leg actuator unit 110. Examples can range from one constraining rib 135 up to any suitable number of constraining ribs 135; according, the number of constraining ribs 135 should not be taken to limit the applicability of the invention. Additionally, constraining ribs 135 can be absent in some embodiments.

The one or more constraining ribs 135 can be constructed in a variety of ways. For example the one or more constraining ribs 135 can vary in construction on a given leg actuator unit 110, and/or may or may not require attachment to the joint structure 125. In various embodiments, the constraining ribs 135 can be constructed as an integral component of a central rotary joint structure 125. An example embodiment of such a structure can include a mechanical rotary pin joint, where the constraining ribs 135 are connected to and can pivot about the joint 125 at one end of the joint 125, and are attached to an inextensible outer layer of the bellows 130 at the other end. In another set of embodiments, the constraining ribs 135 can be constructed in the form of a single flexural structure that directs the motion of the bellows 130 throughout the range of motion for the leg actuator unit 110. Another example embodiment uses a flexural constraining rib 135 that is not connected integrally to the joint structure 125 but is instead attached externally to a previously assembled joint structure 125. Another example embodiment can comprise the constraint rib 125 being composed of pieces of fabric wrapped around the bellows 130 and attached to the joint structure 125, acting like a hammock to restrict and/or guide the motion of the bellows 130. There are additional methods available for constructing the constraining ribs 135 that can be used in additional embodiments that include but are not limited to a linkage, a rotational flexure connected around the joint 125, and the like.

In some examples, a design consideration for constraining ribs 135 can be how the one or more constraining ribs 125 interact with the bellows 130 to guide the path of the bellows 130. In various embodiments, the constraining ribs 135 can be fixed to the bellows 130 at predefined locations along the length of the bellows 130. One or more constraining ribs 135 can be coupled to the bellows 130 in various suitable ways, including but not limited to sewing, mechanical clamps, geometric interference, direct integration, and the like. In other embodiments, the constraining ribs 135 can be configured such that the constraining ribs 135 float along the length of the bellows 130 and are not fixed to the bellows 130 at predetermined connection points. In some embodiments, the constraining ribs 135 can be configured to restrict a cross sectional area of the bellows 130. An example embodiment can include a tubular bellows 130 attached to a constraining rib 135 that has an oval cross section, which in some examples can be a configuration to reduce the width of the bellows 130 at that location when the bellows 130 is inflated.

The bellows 130 can have various functions in some embodiments, including containing operating fluid of the leg actuator unit 110, resisting forces associated with operating pressure of the leg actuator unit 110, and the like. In various examples, the leg actuator unit 110 can operate at a fluid pressure above, below or at about ambient pressure. In various embodiments, bellows 130 can comprise one or more flexible, yet inextensible or practically inextensible materials in order to resist expansion (e.g., beyond what is desired in directions other than an intended direction of force application or motion) of the bellows 130 beyond what is desired when pressurized above ambient pressure. Additionally, the bellows 130 can comprise an impermeable or semi-impermeable material in order to contain the actuator fluid.

For example, in some embodiments, the bellows 130 can comprise a flexible sheet material such as woven nylon, rubber, polychloroprene, a plastic, latex, a fabric, or the like. Accordingly, in some embodiments, bellows 130 can be made of a planar material that is substantially inextensible along one or more plane axes of the planar material while being flexible in other directions. For example, FIG. 13 illustrates a side view of a planar material 1300 (e.g., a fabric) that is substantially inextensible along axis X that is coincident with the plane of the material 1100, yet flexible in other directions, including axis Z. In the example of FIG. 13, the material 1100 is shown flexing upward and downward along axis Z while being inextensible along axis X. In various embodiments, the material 1300 can also be inextensible along an axis Y (not shown) that is also coincident with the plane of the material 1300 like axis X and perpendicular to axis X.

In some embodiments, the bellows 130 can be made of a non-planar woven material that is inextensible along one or more axes of the material. For example, in one embodiment the bellows 130 can comprise a woven fabric tube. Woven fabric material can provide inextensibility along the length of the bellows 130 and in the circumferential direction. Such embodiments can still able to be configured along the body of the user 101 to align with the axis of a desired joint on the body 101 (e.g., the knee 103).

In various embodiments, the bellows 130 can develop its resulting force by using a constrained internal surface length and/or external surface length that are a constrained distance away from each other (e.g. due to an inextensible material as discussed above). In some examples, such a design can allow the actuator to contract on bellows 130, but when pressurized to a certain threshold, the bellows 130 can direct the forces axially by pressing on the plates 140 of the leg actuator unit 110 because there is no ability for the bellows 130 to expand further in volume otherwise due to being unable to extend its length past a maximum length defined by the body of the bellows 130.

In other words, the bellows 130 can comprise a substantially inextensible textile envelope that defines a chamber that is made fluid-impermeable by a fluid-impermeable bladder contained in the substantially inextensible textile envelope and/or a fluid-impermeable structure incorporated into the substantially inextensible textile envelope. The substantially inextensible textile envelope can have a predetermined geometry and a non-linear equilibrium state at a displacement that provides a mechanical stop upon pressurization of the chamber to prevent excessive displacement of the substantially inextensible textile actuator.

In some embodiments, the bellows 130 can include an envelope that consists or consists essentially of inextensible textiles (e.g., inextensible knits, woven, non-woven, etc.) that can prescribe various suitable movements as discussed herein. Inextensible textile bellows 130 can be designed with specific equilibrium states (e.g., end states or shapes where they are stable despite increasing pressure), pressure/stiffness ratios, and motion paths. Inextensible textile bellows 130 in some examples can be configured accurately delivering high forces because inextensible materials can allow greater control over directionality of the forces.

Accordingly, some embodiments of inextensible textile bellows 130 can have a pre-determined geometry that produces displacement mostly via a change in the geometry between the uninflated shape and the pre-determined geometry of its equilibrium state (e.g., fully inflated shape) due to displacement of the textile envelope rather than via stretching of the textile envelope during a relative increase in pressure inside the chamber; in various embodiments, this can be achieved by using inextensible materials in the construction of the envelope of the bellows 130. As discussed herein, in some examples “inextensible” or “substantially inextensible” can be defined as expansion by no more than 10%, no more than 5%, or no more than 1% in one or more direction.

FIG. 12a illustrates a cross-sectional view of a pneumatic actuator unit 110 including bellows 130 in accordance with another embodiment and FIG. 12b illustrates a side view of the pneumatic actuator unit 110 of FIG. 12a in an expanded configuration showing the cross section of FIG. 12a . As shown in FIG. 12a , the bellows 130 can comprise an internal first layer 132 that defines the bellows cavity 131 and can comprise an outer second layer 133 with a third layer 134 disposed between the first and second layers 132, 133. Throughout this description, the use of the term ‘layer’ to describe the construction of the bellows 130 should not be viewed as limiting to the design. The use of ‘layer’ can refer to a variety of designs including but not limited to: a planar material sheet, a wet film, a dry film, a rubberized coating, a co-molded structure, and the like.

In some examples, the internal first layer 132 can comprise a material that is impermeable or semi-permeable to the actuator fluid (e.g., air) and the external second layer 133 can comprise an inextensible material as discussed herein. For example, as discussed herein, an impermeable layer can refer to an impermeable or semi-permeable layer and an inextensible layer can refer to an inextensible or a practically inextensible layer.

In some embodiments comprising two or more layers, the internal layer 132 can be slightly oversized compared to an inextensible outer second layer 133 such that the internal forces can be transferred to the high-strength inextensible outer second layer 133. One embodiment comprises a bellows 130 with an impermeable polyurethane polymer film inner first layer 132 and a woven nylon braid as the outer second layer 133.

The bellows 130 can be constructed in various suitable ways in further embodiments, which can include a single layer design that is constructed of a material that provides both fluid impermeability and that is sufficiently inextensible. Other examples can include a complex bellows assembly that comprises multiple laminated layers that are fixed together into a single structure. In some examples, it can be necessary to limit the deflated stack height of the bellows 130 to maximize the range of motion of the leg actuator unit 110. In such an example, it can be desirable to select a low-thickness fabric that meets the other performance needs of the bellows 130.

In yet another embodiment, it can be desirable to reduce friction between the various layers of the bellows 130. In one embodiment, this can include the integration of a third layer 134 that acts as an anti-abrasive and/or low friction intermediate layer between the first and second layers 132, 133. Other embodiments can reduce the friction between the first and second layers 132, 133 in alternative or additional ways, including but not limited to the use of a wet lubricant, a dry lubricant, or multiple layers of low friction material. Accordingly, while the example of FIG. 10a illustrates an example of a bellows 130 comprising three layers 132, 133, 134, further embodiments can include a bellows 130 having any suitable number of layers, including one, two, three, four, five, ten, fifteen, twenty five, and the like. Such one or more layers can be coupled together along adjoining faces in part or in whole, with some examples defining one or more cavity between layers. In such examples, material such as lubricants or other suitable fluids can be disposed in such cavities or such cavities can be effectively empty. Additionally, as described herein, one or more layers (e.g., the third layer 134) need not be a sheet or planar material layer as shown in some examples and can instead comprise a layer defined by a fluid. For example, in some embodiments, the third layer 134 can be defined by a wet lubricant, a dry lubricant, or the like.

The inflated shape of the bellows 130 can be important to the operation of the bellows 130 and/or leg actuator unit 110 in some embodiments. For example, the inflated shape of the bellows 130 can be affected through the design of both an impermeable and inextensible portion of the bellows 130 (e.g., the first and second layer 132, 133). In various embodiments, it can be desirable to construct one or more of the layers 132, 133, 134 of the bellows 130 out of various two-dimensional panels that may not be intuitive in a deflated configuration.

In some embodiments, one or more impermeable layers can be disposed within the bellows cavity 131 and/or the bellows 130 can comprise a material that is capable of holding a desired fluid (e.g., a fluid impermeable first internal layer 132 as discussed herein). The bellows 130 can comprise a flexible, elastic, or deformable material that is operable to expand and contract when the bellows 130 are inflated or deflated as described herein. In some embodiments, the bellows 130 can be biased toward a deflated configuration such that the bellows 130 is elastic and tends to return to the deflated configuration when not inflated. Additionally, although bellows 130 shown herein are configured to expand and/or extend when inflated with fluid, in some embodiments, bellows 130 can be configured to shorten and/or retract when inflated with fluid in some examples. Also, the term ‘bellows’ as used herein should not be construed to be limiting in any way. For example the term ‘bellows’ as used herein should not be construed to require elements such as convolutions or other such features (although convoluted bellows 130 can be present in some embodiments). As discussed herein, bellows 130 can take on various suitable shapes, sizes, proportions and the like.

The bellows 130 can vary significantly across various embodiments, so the present examples should not be construed to be limiting. One preferred embodiment of a bellows 130 includes fabric-based pneumatic actuator configured such that it provides knee extension torque as discussed herein. Variants of this embodiment can exist to tailor the actuator to provide the desired performance characteristics of the actuators such as a fabric actuator that is not of a uniform cross-section. Other embodiments of can use an electro-mechanical actuator configured to provide flexion and extension torques at the knee instead of or in addition to a fluidic bellows 130. Various embodiments can include but are not limited to designs that incorporate combinations of electromechanical, hydraulic, pneumatic, electro-magnetic, or electro-static for positive power or negative power assistance of extension or flexion of a lower extremity joint.

The actuator bellows 130 can also be located in a variety of locations as required by the specific design. One embodiment places the bellows 130 of a powered knee brace component located in line with the axis of the knee joint and positioned parallel to the joint itself. Various embodiments include but are not limited to, actuators configured in series with the joint, actuators configured anterior to the joint, and actuators configured to rest around the joint.

Various embodiments of the bellows 130 can include secondary features that augment the operation of the actuation. One such embodiment is the inclusion of user-adjustable mechanical hard end stops to limit the allowable range of motion to the bellows 130. Various embodiments can include but are not limited to the following extension features: the inclusion of flexible end stops, the inclusion of an electromechanical brake, the inclusion of an electro-magnetic brake, the inclusion of a magnetic brake, the inclusion of a mechanical disengage switch to mechanically decouple the joint from the actuator, or the inclusion of a quick release to allow for quick changing of actuator components.

In various embodiments, the bellows 130 can comprise a bellows and/or bellows system as described in related U.S. patent application Ser. No. 14/064,071 filed Oct. 25, 2013, which issued as U.S. Pat. No. 9,821,475; as described in U.S. patent application Ser. No. 14/064,072 filed Oct. 25, 2013; as described in U.S. patent application Ser. No. 15/823,523 filed Nov. 27, 2017; or as described in U.S. patent application Ser. No. 15/472,740 filed Mar. 29, 2017.

In some applications, the design of the fluidic actuator unit 110 can be adjusted to expand its capabilities. One example of such a modification can be made to tailor the torque profile of a rotary configuration of the fluidic actuator unit 110 such that the torque changes as a function of the angle of the joint structure 125. To accomplish this in some examples, the cross-section of the bellows 130 can be manipulated to enforce a desired torque profile of the overall fluidic actuator unit 110. In one embodiment, the diameter of the bellows 130 can be reduced at a longitudinal center of the bellows 130 to reduce the overall force capabilities at the full extension of the bellows 130. In yet another embodiment, the cross-sectional areas of the bellows 130 can be modified to induce a desired buckling behavior such that the bellows 130 does not get into an undesirable configuration. In an example embodiment, the end configurations of the bellows 130 of a rotary configuration can have the area of the ends reduced slightly from the nominal diameter to provide for the end portions of the bellows 130 to buckle under loading until the actuator unit 110 extends beyond a predetermined joint angle, at which point the smaller diameter end portion of the bellows 130 would begin to inflate.

In other embodiments, this same capability can be developed by modifying the behavior of the constraining ribs 135. As an example embodiment, using the same example bellows 130 as discussed in the previous embodiment, two constraining ribs 135 can fixed to such bellows 130 at evenly distributed locations along the length of the bellows 130. In some examples, a goal of resisting a partially inflated buckling can be combated by allowing the bellows 130 to close in a controlled manner as the actuator unit 110 closes. The constraining ribs 135 can be allowed to get closer to the joint structure 125 but not closer to each other until they have bottomed out against the joint structure 125. This can allow the center portion of the bellows 130 to remain in a fully inflated state which can be the strongest configuration of the bellows 130 in some examples.

In further embodiments, it can be desirable to optimize the fiber angle of the individual braid or weave of the bellows 130 in order to tailor specific performance characteristics of the bellows 130 (e.g., in an example where a bellows 130 includes inextensibility provided by a braided or woven fabric). In other embodiments, the geometry of the bellows 130 of the actuator unit 110 can be manipulated to allow the robotic exoskeleton system 100 to operate with different characteristics. Example methods for such modification can include but are not limited to the following: the use of smart materials on the bellows 130 to manipulate the mechanical behavior of the bellows 130 on command; or the mechanical modification of the geometry of the bellows 130 through means such as shortening the operating length and/or reducing the cross sectional area of the bellows 130.

In further examples, a fluidic actuator unit 110 can comprise a single bellows 130 or a combination of multiple bellows 130, each with its own composition, structure, and geometry. For example, some embodiments can include multiple bellows 130 disposed in parallel or concentrically on the same joint assembly 125 that can be engaged as needed. In one example embodiment, a joint assembly 125 can be configured to have two bellows 130 disposed in parallel directly next to each other. The system 100 can selectively choose to engage each bellows 130 as needed to allow for various amounts of force to be output by the same fluidic actuator unit 110 in a desirable mechanical configuration.

In further embodiments, a fluidic actuator unit 110 can include various suitable sensors to measure mechanical properties of the bellows 130 or other portions of the fluidic actuator unit 110 that can be used to directly or indirectly estimate pressure, force, or strain in the bellows 130 or other portions of the fluidic actuator unit 110. In some examples, sensors located at the fluidic actuator unit 110 can be desirable due to the difficulty in some embodiments associated with the integration of certain sensors into a desirable mechanical configuration while others may be more suitable. Such sensors at the fluidic actuator unit 110 can be operably connected to the exoskeleton device 610 (see FIG. 6) and the exoskeleton device 610 can use data from such sensors at the fluidic actuator unit 110 to control the exoskeleton system 100.

The described embodiments are susceptible to various modifications and alternative forms, and specific examples thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the described embodiments are not to be limited to the particular forms or methods disclosed, but to the contrary, the present disclosure is to cover all modifications, equivalents, and alternatives. Additionally, elements of a given embodiment should not be construed to be applicable to only that example embodiment and therefore elements of one example embodiment can be applicable to other embodiments. Additionally, elements that are specifically shown in example embodiments should be construed to cover embodiments where that comprise, consist essentially of, or consist of such elements, or such elements can be explicitly absent from further embodiments. Accordingly, the recitation of an element being present in one example should be construed to support some embodiments where such an element is explicitly absent. 

What is claimed is:
 1. A method of operating an exoskeleton system comprising: coupling a left and right leg actuator unit of an exoskeleton system respectively to a left and right leg of a user over clothing of the user, the left and right leg actuator units each including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee and coupled to a skiing assembly comprising a ski boot and a ski, a bellows actuator that extends between the upper arm and lower arm; and a plurality of sensors including a set of sensors positioned on the leg actuator unit; the exoskeleton system further comprising: a fluidic system at least partially disposed within a backpack worn by the user; and a control system disposed within the backpack worn by the user and configured to receive data from the plurality of sensors and to operate the fluidic system to introduce fluid to the bellows actuator from a fluid source disposed within the backpack to cause the bellows actuator to expand and move the upper arm and lower arm; obtaining, at the control system, a first set of sensor data from the plurality of sensors while the user is skiing on a ski slope, the first set of sensor data indicating a first configuration state of the upper arms, lower arms and bellows actuators of the left and right leg actuator units; determining by the control system, based at least in part on the first set of obtained sensor data, to change configuration of the left and right leg actuator units to a second configuration state to support the user skiing on the ski slope; and causing, by the control system, the fluidic system to introduce fluid to the bellows actuators of the left and right leg actuator units from the fluid source disposed within the backpack to generate the second configuration state by causing the bellows actuators to expand and move the upper arms and lower arms of the left and right leg actuator units.
 2. The method of claim 1, wherein the determining to change configuration of the left and right leg actuator units to the second configuration state to support the user skiing on the ski slope is based at least in part on a determined physical configuration of the upper arms and the lower arms of the left and right leg actuator units, including respective angles between the upper arms and lower arms of the left and right leg actuator units.
 3. The method of claim 1, wherein the determining to change configuration of the left and right leg actuator units to the second configuration state to support the user skiing on the ski slope is based at least in part on a determined fluid pressure within the bellows actuators of the left and right leg actuator units.
 4. The method of claim 1, wherein the determining to change configuration of the left and right leg actuator units to the second configuration state to support the user skiing on the ski slope is based at least in part on a user profile defining skiing strengths and skiing weaknesses of the user.
 5. The method of claim 4, further comprising: obtaining a second set of sensor data from the plurality of sensors while the user is skiing; determining one or more skiing strengths and skiing weaknesses of the user based at least in part on the second set of sensor data from the plurality of sensors obtained while the user is skiing; and updating the user profile to include the determined one or more skiing strengths and skiing weaknesses of the user.
 6. The method of claim 1, wherein the exoskeleton system further comprises a GPS location device, and wherein the determining to change configuration of the left and right leg actuator units to the second configuration state to support the user skiing on the ski slope is based at least in part on a location of the user on the ski slope determined based at least in part on location data obtained from the GPS location device.
 7. The method of claim 1, wherein the determining to change configuration of the left and right leg actuator units to the second configuration state to support the user skiing on the ski slope is based at least in part on an underlying model of lower extremity and torso body segments of the user to enforce a relational constraint between the sets of sensors positioned on the leg actuator units.
 8. The method of claim 1, wherein the determining to change configuration of the left and right leg actuator units to the second configuration state to support the user skiing on the ski slope is based at least in part on data received regarding a community of skiers around the user on the ski slope.
 9. A method of operating an exoskeleton system comprising: coupling one or more leg actuator units of an exoskeleton system respectively to one or more leg of a user, the one or more leg actuator units including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a fluidic actuator that extends between the upper arm and lower arm; and one or more sensors; the exoskeleton system further comprising: a fluidic system; and a control system configured to receive data from the one or more sensors and to operate the fluidic system to introduce fluid to the fluidic actuator and apply force to the upper arm and lower arm; obtaining a first set of sensor data from the one or more sensors during a user activity, the first set of sensor data indicating a first configuration state of the one or more actuator units; determining, based at least in part on the first set of obtained sensor data, to change configuration of the one or more leg actuator units to a second configuration state to support the user during the user activity; and causing the fluidic system to introduce fluid to one or more fluidic actuators of the one or more leg actuator units to generate the second configuration state by causing the one or more fluidic actuators to expand and apply force at the one or more actuator units.
 10. The method of claim 9, wherein the lower arm of the one or more actuator units is coupled to a skiing assembly comprising at least one of a ski boot and a ski, and wherein the user activity is the user skiing on a ski slope.
 11. The method of claim 9, wherein the determining to change configuration of the one or more actuator units to the second configuration state to support the user during the user activity is based at least in part on a determined physical configuration of the one or more actuator units, including an angle between the upper arm and lower arm of the one or more leg actuator units.
 12. The method of claim 9, wherein the determining to change configuration of the one or more leg actuator units to the second configuration state to support the user during the user activity is based at least in part on a determined fluid pressure associated with the one or more fluidic actuators of the one or more actuator units.
 13. The method of claim 9, wherein the determining to change configuration of the one or more leg actuator units to the second configuration state to support the user during the user activity is based at least in part on one or more determined strengths or weaknesses of the user.
 14. The method of claim 9, wherein the exoskeleton system further comprises a location device, and wherein the determining to change configuration of the one or more actuator units to the second configuration state to support the user during the user activity is based at least in part on a location of the user determined based at least in part on location data obtained from the location device.
 15. The method of claim 9, wherein the determining to change configuration of the one or more leg actuator units to the second configuration state to support the user during the user activity is based at least in part on an underlying model of body segments of the user to enforce a relational constraint between a plurality of sensors positioned on the one or more leg actuator units.
 16. The method of claim 9, wherein the determining to change configuration of the one or more leg actuator units to the second configuration state to support the user during the user activity is based at least in part on data received regarding one or more additional user around the user during the user activity.
 17. A method of operating an exoskeleton system comprising: obtaining a first set of sensor data from one or more sensors associated with one or more leg actuator units of an exoskeleton system during a user activity, the first set of sensor data indicating a first configuration state of the one or more actuator units; determining, based at least in part on the first set of obtained sensor data, to change configuration of the one or more leg actuator units to a second configuration state to support a user during the user activity; and introducing fluid to one or more fluidic actuators of the one or more leg actuator units to generate the second configuration state by causing the one or more fluidic actuators to apply force at the one or more actuator units.
 18. The method of claim 17, wherein the one or more actuator units are coupled to a skiing assembly comprising a ski boot and wherein the user activity comprises the user skiing.
 19. The method of claim 17, wherein the one or more leg actuator units include an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee. 